System and method for autonomous air traffic control of unmanned aerial vehicles

Abstract

A method for autonomous air traffic control (AATC) of unmanned aerial vehicles (UAVs) comprising transporting a plurality of UAVs from an origin location to a destination location through a plurality of airspace regions, controlling the flight of said UAVs using a computer-based traffic management system, periodically tracking the flight of the UAVs, executing automated processes on the computer-based traffic management system and transmitting bi-directional information between the computer-based traffic management system and the UAVs through a communications network.

1 . A system for autonomous air traffic control of unmanned aerial vehicles (UAVs) comprising:
 A plurality of takeoff and landing stations;   Telecommunications infrastructure;   A computer-based traffic management system;   A plurality of unmanned aerial vehicles;   A communications network for bi-directional transmission of data between the computer-based traffic management system and the UAVs; and   A plurality of airspace regions;   
     
     
         2 . The system of  claim 1 , wherein each one of the takeoff and landing stations can be located in any or a combination of items from the following list:
 i. A ground station,   ii. A maritime station,   iii. An air station,   iv. A space station,   v. A warehouse,   vi. A balcony,   vii. A backyard,   viii. A roof,   ix. A ground vehicle,   x. An aerial vehicle.   
     
     
         3 . The system of  claim 1 , wherein the computer-based traffic management system can execute any or a combination of automated processes from the following list:
 i. Periodically receive data from each UAV,   ii. Receive flight requests, each flight request containing at least an origin location and a destination location,   iii. Generate a flight plan from the origin location to the destination location,   iv. Authorize flight initiation, take-off and landing of the UAVs,   v. Dynamically assign flight plans to each flight request and communicate each flight plan to the respective UAV(s),   vi. Track UAVs using the information contained in the flight plan and the data periodically received from the UAVs, said data including and not limited to telemetry information,   vii. Track UAVs with intermittent or without access to the communications network using the flight plan information and the last data received from the UAVs, said data including and not limited to telemetry information,   viii. Estimate future flight parameters of the UAVs using the flight plan information and the last data received from the UAVs, said data including and not limited to telemetry information,   ix. Ensure safe separation between the UAVs,   x. Dynamically modify the flight plan and flight parameters of individual UAVs based on any of the following: flight priorities, weather conditions, emergency situations, natural disasters, as a request from local aviation authorities, a combination thereof,   xi. Communicate change of flight plans and change of flight parameters to the corresponding UAV(s),   xii. Real-time control of flight parameters of individual UAVs,   xiii. Authenticate UAVs,   xiv. Register new UAVs into the computer-based traffic management system,   xv. Maintain a registry of registered UAVs including at least one of the following information: UAV ID, serial number, model, physical dimensions, maximum takeoff weight, maximum payload dimensions, weight, cruise speed, power consumption, flight range, maximum altitude, maximum and minimum speed, minimum turning radius, maximum ascend rate, maximum decent rate, aircraft type, age, last service and service schedule,   xvi. Transmit information to one or a to plurality of UAVs via the communications network,   xvii. Receive information from one or from a plurality of UAVs via the communications network.   xviii. Acknowledge received information from UAVs,   xix. Ensure safe separation between the UAVs and manned air traffic,   xx. Update a database or blockchain including and not limited to flight plan and telemetry information of flights.   
     
     
         4 . The system of  claim 3 , wherein the telemetry information includes at least one of the items from the following list:
 i. Longitude, latitude and altitude,   ii. A UAV identification number (UAV ID),   iii. Ground speed,   iv. Air speed,   v. Pitch rate, yaw rate and roll rate,   vi. Heading,   vii. Absolute UAV orientation,   viii. Throttle level,   ix. aileron, elevator, rudder, trim and flaps level,   x. Battery level,   xi. Fuel level,   xii. Flight mode,   xiii. General aircraft status,   xiv. Average and instantaneous energy consumption,   xv. Service status,   xvi. Range,   xvii. Data from on-board sensors,   xviii. A combination thereof.   
     
     
         5 . The system of  claim 3 , wherein the flight plan information includes at least one of items from the following list:
 i. A UAV ID,   ii. A flight ID,   iii. Origin and destination locations,   iv. Waypoints that connect route segments,   v. Route segments connecting the origin location with the destination location through a plurality of waypoints,   vi. Location of waypoints,   vii. Flight parameters per route segment,   viii. Estimated time of departure and estimated time of arrival;   ix. Expected duration of each route segment,   x. Expected arrival time to each waypoint,   xi. Service stops for aircraft service operations such as refueling, battery charge, battery swap, payload swap, UAV maintenance or a combination thereof,   xii. Payload information,   xiii. Flight cost,   xiv. A combination thereof.   
     
     
         6 . The system of  claim 3 , wherein the flight parameters include at leas one of the items from the following list:
 i. Altitude,   ii. Aircraft ID,   iii. Ground speed,   iv. Air speed,   v. Pitch rate, yaw rate and roll rate,   vi. Heading,   vii. Turning radius,   viii. Throttle level,   ix. aileron, elevator, rudder, trim and Flaps level,   x. Flight mode,   xi. Target energy consumption,   xii. A combination thereof.   
     
     
         7 . The system of  claim 1  further comprising at least one of the items from the following list:
 i. At least one traffic control monitoring center for human monitoring and control of the computer-based traffic management system, 
 ii. A plurality of aircraft service stations, 
 iii. A plurality of emergency landing stations, 
 iv. A plurality of ground-based or air-based guidance systems for assisting UAVs in maneuvers such as approaching, takeoff and landing, 
 v. A plurality of navigation augmentation systems, 
 vi. Means for enforcing geo-fencing to out-of-network UAVs, 
 vii. Means for periodic transmission of data from UAVs to the computer-based traffic management system, said data including and not limited to UAV ID and telemetry information, 
 viii. Means for receiving telemetry information from out-of-network UAV operators, out-of-network UAV aircrafts and from hobbyist drones that broadcast telemetry information, 
 ix. Means to request authorization from aviation authorities to transport one or a plurality of UAVs outside pre-defined transportation airspace regions or outside the plurality of airspace regions mentioned in  claim 1 , 
 x. Means for authorized human intervention in the computer-based traffic management system to control one or a plurality of UAVs in situations including but not limited to: emergency situations, natural disasters, severe weather conditions or as a request from local aviation authorities, 
 xi. A database or decentralized blockchain for historical recording of information including but not limited to flight plans and telemetry information from each UAV, 
 xii. A plurality of Lidar and radar stations connected to the communications network, 
 xiii. A computer-based Artificial Intelligence (AI) system used for and not limited to at least one of the following processes: processing of flight requests, assignation of flight plans, collision likelihood mitigation, flight planning, airspace monitoring and generation of automated alerts, 
 xiv. Means for analyzing data received from a plurality of on-board sensors mounted on the UAVs to prevent UAV malfunctioning and facilitate preventive maintenance, 
 xv. A combination thereof. 
 
     
     
         8 . The system of  claim 1 , wherein each UAV further comprises:
 Means for broadcasting at least one or a combination of items from the following list:
 i. aircraft ID, 
 ii. telemetry information, 
 iii. A subset of the flight plan information. 
   
     
     
         9 . The system of  claim 1 , wherein the communications network is based on the telecommunications infrastructure and can transmit information using any or a combination of technologies and protocols from the following list:
 i. Microwave links,   ii. Optical links,   iii. wireless links,   iv. satellite communications,   v. radio waves,   vi. AMPS,   vii. 2G TDMA,   viii. GPRS Edge,   ix. 3G,   x. WiMAX,   xi. CDMA,   xii. OFDM,   xiii. HDPA,   xiv. 4G,   xv. 5G,   xvi. On board transponders,   xvii. Any other technology for analog or digital information transmission.   
     
     
         10 . The system of  claim 1 , wherein said system can be used for different applications including and not limited to: transportation of a plurality of UAVs carrying goods or things, cargo delivery, search and rescue, mapping, surveillance, aerial photography, agriculture, wildlife monitoring, mining, remote sensing, law enforcement, real state, railroad monitoring, construction monitoring and disaster assessment. 
     
     
         11 . The system of  claim 1 , wherein the UAVs are capable of autonomous flight. 
     
     
         12 . A method for autonomous air traffic control of unmanned aerial vehicles (UAVs) comprising:
 Transporting a plurality of UAVs from an origin location to a destination location through a plurality of airspace regions;   Controlling the flight of said UAVs using a computer-based traffic management system;   Periodically tracking the flight of the UAVs;   Executing automated processes on the computer-based traffic management system; And   Transmitting bi-directional information between the computer-based traffic management system and the UAVs through a communications network.   
     
     
         13 . The method of  claim 12 , wherein the computer-based traffic management system can execute any or a combination of automated processes from the following list:
 i. Periodically receiving data from each UAV,   ii. Receiving flight requests, each flight request containing at least an origin location and a destination location,   iii. Generating a flight plan from the origin location to the destination location,   iv. Authorizing flight initiation, take-off and landing of the UAVs,   v. Dynamically assigning flight plans to each flight request and communicating each flight plan to the respective UAVs,   vi. Tracking UAVs using the information contained in the flight plan and the data periodically received from the UAVs, said data including and not limited to telemetry information,   vii. Tracking UAVs with intermittent or without access to the communications network using the flight plan information and the last data received from the UAVs, said data including and not limited to telemetry information,   viii. Estimating future flight parameters of UAVs using the flight plan information and the last data received from the UAVs, said data including and not limited to telemetry information,   ix. Ensuring safe separation between the UAVs.   x. Dynamically modifying the flight plan and flight parameters of individual UAVs based on any of the following: flight priorities, weather conditions, emergency situations, natural disasters, as a request from local aviation authorities, a combination thereof,   xi. Communicating changes of flight plans and flight parameters to the corresponding UAV(s),   xii. Controlling in real-time the flight parameters of individual UAVs,   xiii. Authenticating UAVs,   xiv. Registering new UAVs into the computer-based traffic management system,   xv. Maintaining a registry of registered UAVs including at least one of the following information: UAV ID, serial number, model, physical dimensions, maximum takeoff weight, maximum payload dimensions and weight, cruise speed, power consumption, flight range, maximum altitude, maximum and minimum speed, minimum turning radius, maximum ascend rate, maximum decent rate, aircraft type, age, last service, and service schedule,   xvi. Transmitting information to one or to a plurality of UAVs via the communications network,   xvii. Receiving information from one or from a plurality of UAVs via the communications network.   xviii. Acknowledging received information from UAVs,   xix. Ensuring safe separation between the UAVs and manned air traffic,   xx. Updating a database and a blockchain including and not limited to flight plan and telemetry information of flights.   
     
     
         14 . The method of  claim 13 , wherein the telemetry information includes at least one of the items from the following list:
 i. Longitude, latitude and altitude,   ii. A UAV identification number (UAV ID),   iii. Ground speed,   iv. Air speed,   v. Pitch rate, yaw rate and roll rate,   vi. Heading,   vii. Absolute UAV orientation,   viii. Throttle level,   ix. aileron, elevator, rudder, trim and flaps level,   x. Battery level,   xi. Fuel level,   xii. Flight mode,   xiii. General aircraft status,   xiv. Average and instantaneous energy consumption,   xv. Service status,   xvi. Range,   xvii. Data from on-board sensors,   xviii. A combination thereof.   
     
     
         15 . The method of  claim 13 , wherein the flight plan information includes at least one of items from the following list:
 i. A UAV ID,   ii. A flight ID,   iii. Origin and destination locations,   iv. Waypoints that connect route segments,   v. Route segments connecting the origin location with the destination location through a plurality of waypoints,   vi. Location of waypoints,   vii. Flight parameters per route segment,   viii. Estimated time of departure and estimated time of arrival,   ix. Expected duration of each route segment,   x. Expected arrival time to each waypoint,   xi. Service stops for aircraft service operations such as refueling, battery charge, battery swap, payload swap, UAV maintenance or a combination thereof,   xii. Payload information,   xiii. Flight cost,   xiv. A combination thereof.   
     
     
         16 . The method of  claim 13 , wherein the flight parameters include at leas one of the items from the following list:
 i. Altitude,   ii. Aircraft ID,   iii. Ground speed,   iv. Air speed,   v. Pitch rate, yaw rate and roll rate,   vi. Heading,   vii. Turning radius,   viii. Throttle level,   ix. aileron, elevator, rudder, trim and flaps level,   x. Flight mode,   xi. Target energy consumption,   xii. A combination thereof.   
     
     
         17 . The method of  claim 12  further comprising at least one of the items from the following list:
 i. Human monitoring and controlling of the computer-based traffic management system, 
 ii. Providing service to the UAVs in a plurality of aircraft service stations, 
 iii. Emergency landing UAVs in a plurality of emergency landing stations, 
 iv. Using ground-based or air-based guidance systems for assisting UAV maneuvers such as approaching, takeoff and landing, 
 v. Using navigation augmentation systems, 
 vi. Enforcing geo-fencing to out-of-network UAVs, 
 vii. Periodically transmitting data from UAVs to the computer-based traffic management system, said data including and not limited to UAV ID and telemetry information, 
 viii. Receiving telemetry information from out-of-network UAV operators, out-of-network UAV aircrafts and from hobbyist drones that broadcast telemetry information, 
 ix. Requesting authorization from aviation authorities to transport one or a plurality of UAVs outside pre-defined transportation airspace regions or outside the plurality of airspace regions mentioned in  claim 12 , 
 x. Performing authorized human intervention in the computer-based traffic management system to control one or a plurality of UAVs in situations including but not limited to: emergency situations, natural disasters, severe weather conditions or as a request from local aviation authorities, 
 xi. Recording in a database or a decentralized blockchain information including but not limited to flight plans and telemetry information from each UAV, 
 xii. Transmitting information from Lidar and radar stations to the computer-based traffic control system through the communications network, 
 xiii. Executing on a computer-based Artificial Intelligence (AI) system at least one of the following processes: processing trip requests, assigning flight plans, reducing likelihood of collisions, planning flight trips, monitoring airspace and generating automated alerts, 
 xiv. Analyzing data received from a plurality of on-board sensors mounted on the UAVs to prevent UAV malfunctioning and facilitate preventive maintenance. 
 xv. A combination thereof. 
 
     
     
         18 . The method of  claim 12 , wherein each UAV performs a broadcasting of at least one or a combination of items from the following list:
 xvi. aircraft ID,   xvii. telemetry information,   xviii. heading,   xix. A subset of the flight plan information.   
     
     
         19 . The method of  claim 12 , wherein the communications network is based on the telecommunications infrastructure and can transmit information using any or a combination of technologies and protocols from the following list:
 i. Microwave links,   ii. Optical links,   iii. wireless links,   iv. satellite communications,   v. radio waves,   vi. AMPS,   vii. 2G TDMA,   viii. GPRS Edge,   ix. 3G,   x. WiMAX,   xi. CDMA,   xii. OFDM,   xiii. HDPA,   xiv. 4G,   xv. 5G,   xvi. Any other technology for analog or digital information transmission.   
     
     
         20 . The method of  claim 12 , wherein said method can be used for different applications including and not limited to: transportation of a plurality of UAVs carrying goods or things, cargo delivery, search and rescue, mapping, surveillance, aerial photography, agriculture, wildlife monitoring, mining, remote sensing, law enforcement, real state, railroad monitoring, construction monitoring and disaster assessment. 
     
     
         21 . The method of  claim 12 , wherein the UAVs are capable of autonomous flight.